基于组合测量的激光跟踪仪站位规划

Station Planning of Laser Tracker Based on Combination Measurement

对于由激光跟踪仪Leica AT901-MR、激光扫描仪Leica T-Scan5(以下简称"T-Scan")和工业机器人KUKA KR90R3100 extra组成的测量系统,合理规划激光跟踪仪站位来测量变化频繁的T-Scan位姿成为关键问题之一。针对该问题,首先构建融合了激光跟踪仪和T-Scan测量特性的组合测量约束模型,并提出判断站位可行性的站位评价方法;然后,为了提高测量效率与减小站位数量,基于站位评价方法设计站位规划方法的流程;最后,基于Open CASCADE程序实现了站位规划,并设计蒙皮扫描实验进行验证。结果表明:所提方法规划的激光跟踪仪站位的数量比经验法的数量少;在规划站位下对蒙皮开展的测量耗时约5 min,而经验法的测量耗时约40 min。

For the combination measurement system consisting of the laser tracker Leica AT901-MR,laser scanner Leica T-Scan5(T-Scan),and industrial robot KUKA KR90 R3100 extra,the rational planning of laser tracker stations to measure the frequently changing T-Scan pose is one of the key problems.To solve this problem,first,the construction of a combination measurement constraint model combining laser tracker and T-Scan measurement characteristics and proposing a station evaluation method to examine station viability is required.To improve the measurement efficiency and reduce the number of stations,the station planning method flow is designed based on the station evaluation method.Finally,implementing the station planning method based on Open CASCADE programming and designing a skin-scanning experiment for verification is required.The results show that the number of laser tracker stations planned by this method is less than that of the empirical method.Besides,the measurement of the skin under the planned station takes about 5 min,whereas,the empirical method takes about 40 min.